01/ Problem
Problem
Bring up the MyActuator RMD X-series quickly across new prototypes. Their out-of-the-box stack does not cover all six control modes or expose Python bindings.
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0062026
MyActuator RMD SDK
C++17 + ROS 2 driver for X-series CAN bus motors.
- C++17
- Python 3.10+
- ROS 2 Humble / Jazzy
- pybind11
- PyQt6
- SocketCAN
- CMake 3.20+
- GTest
02/ Approach
Approach
Implement the V4.3 protocol over CAN (SocketCAN, candleLight, PEAK PCAN-USB, SLCAN) with all six control modes: position, velocity, torque, free / hand-guided, admittance, MIT-style impedance. Ship a ROS 2 hardware interface, a Python ROS 2 driver via pybind11, a PyQt6 Motor Studio GUI, and a URDF description package.
03/ Hardware
Hardware
MyActuator RMD X-series V2 / V3 / V4 (X4 to X15). Up to 32 motors per CAN bus at 1 Mbps. Default 500 Hz control loop. Trajectory record and playback in ROS 2 bag (sqlite3 + MCAP) with hysteresis torque triggers for hybrid playback.
04/ Result
Result
Bring-up time for new prototypes down by over 60%. 9-axis coordinated motion system shipped on top of the SDK. Open source, used in production.